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In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…

Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have…

One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…

Bimanual manipulation needs robots to be sensitive on the grasp force which is hard to be accurately detected. This paper proposes RL framework for enhancing the grasp quality during the bimanual manipulation. This framework is based on…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…